Cooperative Control for Longitudinal Following and Lateral Lane Changing of Intelligent Cars
Journal Title: IOSR Journals (IOSR Journal of Electrical and Electronics Engineering) - Year 2018, Vol 13, Issue 4
Abstract
In order to improve the control performance of the intelligent vehicle, by using front and rear wheel active steering technology, in this paper, we study the cooperative control for lane changing and following control of intelligent networked cars. Assuming that the lateral positions of the vehicle in a lane changing transition satisfy five order polynomial constraints, and the longitudinal positions and status information of the vehicle to be followed is obtained by means of inter-vehicle communication. Based on the desired longitudinal and lateral vehicle states, the reference yaw angle for lane changing was generated. Based on the dynamical model of the front and rear wheel steering vehicle, the longitudinal error model of vehicle following and lateral error model of trajectory tracking for lane changing are established. By applying terminal sliding mode technology, the cooperative tracking control law for lane changing and vehicle following was designed. Based on Lyapunov function method, the stability of the control system was obtained. Expected control performance for vehicle following and trajectory tracking for lane changing is verified by the simulation, the asymptotic convergence of longitudinal and lateral position error and yaw angle error is guaranteed.
Authors and Affiliations
Dianbo Ren, Hao Wang, Yong Zhang
Keywords
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- EP ID EP388953
- DOI 10.9790/1676-1304031221.
- Views 120
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